Tuning of Proportional Integral Derivative Controllers for Integrating Systems Using Differential Evolution Technique

Abstract

Tuning of proportional integral and derivative (PID) controllers using an optimization method to minimize integral time weighted absolute error is proposed. It will use differential evolution technique for various types of integrating systems. The processes considered in the paper include a pure integrator with dead time, a stable/unstable first-order plus time delay (FOPTD) system with integrator with/without a zero, pure double integrating systems with time delay and a stable FOPTD system with a double integrator. The zero may be positive or negative. The performance of the PID controller designed by the proposed method is compared with the recently reported methods. The stability and robustness of the controller are reported and compared with the recently reported methods. Simulation studies on various transfer function models are given to show the effectiveness of the proposed controller for perfect model parameters and uncertainty in model parameters.